FR2565882B2 - CONNECTION DEVICE WITH MULTIPLE DEGREES OF FREEDOM - Google Patents

CONNECTION DEVICE WITH MULTIPLE DEGREES OF FREEDOM

Info

Publication number
FR2565882B2
FR2565882B2 FR8409927A FR8409927A FR2565882B2 FR 2565882 B2 FR2565882 B2 FR 2565882B2 FR 8409927 A FR8409927 A FR 8409927A FR 8409927 A FR8409927 A FR 8409927A FR 2565882 B2 FR2565882 B2 FR 2565882B2
Authority
FR
France
Prior art keywords
jacks
pair
freedom
connection device
multiple degrees
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
FR8409927A
Other languages
French (fr)
Other versions
FR2565882A2 (en
Inventor
Jean Clot
Jean Falipou
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Original Assignee
Centre National de la Recherche Scientifique CNRS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Centre National de la Recherche Scientifique CNRS filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR8409927A priority Critical patent/FR2565882B2/en
Priority to EP85200867A priority patent/EP0165635B1/en
Priority to DE8585200867T priority patent/DE3562121D1/en
Priority to US06/741,105 priority patent/US4800723A/en
Priority to JP60125280A priority patent/JPS614689A/en
Publication of FR2565882A2 publication Critical patent/FR2565882A2/en
Application granted granted Critical
Publication of FR2565882B2 publication Critical patent/FR2565882B2/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0075—Truss
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)
  • Control Of Position Or Direction (AREA)
  • Reciprocating Pumps (AREA)

Abstract

A flexible bellows connecting device which positions an output member has a pair of jacks (1,2) equipped with deformation sensors (12,13). A pair of variable capacity bellows pump reservoirs (3,4) permit predetermined motion of the jacks. An electric motor (19) drives the pump. The sensor signals provide deformation difference signal feedback to the electronic control system which may include a microprocessor (5) for closed loop position control.
FR8409927A 1984-06-13 1984-06-13 CONNECTION DEVICE WITH MULTIPLE DEGREES OF FREEDOM Expired FR2565882B2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR8409927A FR2565882B2 (en) 1984-06-13 1984-06-13 CONNECTION DEVICE WITH MULTIPLE DEGREES OF FREEDOM
EP85200867A EP0165635B1 (en) 1984-06-13 1985-05-31 Joint with several degrees of freedom
DE8585200867T DE3562121D1 (en) 1984-06-13 1985-05-31 Joint with several degrees of freedom
US06/741,105 US4800723A (en) 1984-06-13 1985-06-04 Electrically-driven opposed flexible bellows pump and position-controlled opposed flexible bellows jack system
JP60125280A JPS614689A (en) 1984-06-13 1985-06-11 Coupler having plurality of degree of freedom

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8409927A FR2565882B2 (en) 1984-06-13 1984-06-13 CONNECTION DEVICE WITH MULTIPLE DEGREES OF FREEDOM

Publications (2)

Publication Number Publication Date
FR2565882A2 FR2565882A2 (en) 1985-12-20
FR2565882B2 true FR2565882B2 (en) 1987-09-18

Family

ID=9305360

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8409927A Expired FR2565882B2 (en) 1984-06-13 1984-06-13 CONNECTION DEVICE WITH MULTIPLE DEGREES OF FREEDOM

Country Status (5)

Country Link
US (1) US4800723A (en)
EP (1) EP0165635B1 (en)
JP (1) JPS614689A (en)
DE (1) DE3562121D1 (en)
FR (1) FR2565882B2 (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL8700307A (en) * 1987-02-10 1988-09-01 Berend Jan Bloemendal BY OPERATING A FLOWABLE MEDIUM PUSH BAR AND AN APPARATUS FOR LOADING AND UNLOADING APPARATUS, INCLUDED WITH ONE OR MORE OF SUCH PUSH BEAMS.
JPH0627477Y2 (en) * 1988-07-14 1994-07-27 株式会社小糸製作所 Illumination angle adjustment device for vehicle headlights
FR2672836B1 (en) * 1991-02-15 1995-06-02 Onera (Off Nat Aerospatiale) JOINT DEVICE WITH PARALLEL STRUCTURE AND APPARATUS FOR TRANSMITTING REMOTE MOTION USING THE SAME.
JP3331152B2 (en) * 1997-07-29 2002-10-07 東芝機械株式会社 Closed hydraulic pressure booster
US8065951B2 (en) * 2005-02-15 2011-11-29 P.I. Engineering, Inc. Servo-controlled tipping platform and motion control system therefor
DE102008050519B4 (en) * 2008-10-06 2021-07-01 Ferrobotics Compliant Robot Technology Gmbh Swiveling flange
FR2997888B1 (en) 2012-11-14 2015-08-21 Commissariat Energie Atomique ARTICULATED ARM
FR2997887B1 (en) * 2012-11-14 2015-07-10 Commissariat Energie Atomique HEXAPODE SYSTEM
JP2015036161A (en) * 2013-08-12 2015-02-23 国立大学法人富山大学 Joint mechanism
US9611740B2 (en) * 2013-11-22 2017-04-04 L & B Manufacturing, Inc. Pneumatic actuators
WO2019040430A1 (en) * 2017-08-21 2019-02-28 Massachusetts Institute Of Technology Extending robotic arm
US20230313819A1 (en) * 2022-04-05 2023-10-05 Weijia Tao Bistable Elastomeric Actuator

Family Cites Families (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1256127A (en) * 1916-08-10 1918-02-12 A E Kibble Pump.
US1289435A (en) * 1916-09-15 1918-12-31 Fulton Co Heat-motor.
US1543061A (en) * 1920-05-18 1925-06-23 Oscar A Danielson Balanced transmission for distant indicators
US2124735A (en) * 1935-05-20 1938-07-26 Automotive Devices Inc Fluid pressure motor
US2325967A (en) * 1939-10-24 1943-08-03 Brown Instr Co Air control instrument
US2496729A (en) * 1941-11-29 1950-02-07 Bendix Aviat Corp Fluid pressure control
US2578265A (en) * 1948-10-11 1951-12-11 Milton Roy Co Bellows pump
US2909315A (en) * 1956-10-10 1959-10-20 Thompson Ramo Wooldridge Inc Hydraulically operated gas compressor
US3095532A (en) * 1959-06-29 1963-06-25 Peter G Floyd Vibration responsive system for stopping motor driven machines
US3279624A (en) * 1962-09-26 1966-10-18 George C Devol Programmed article handling
US3309588A (en) * 1963-12-05 1967-03-14 Ferranti Ltd Multiplex servo system for servo motors mechanically connected in series
US3284964A (en) * 1964-03-26 1966-11-15 Saito Norio Flexible beam structures
US3401607A (en) * 1966-08-08 1968-09-17 Michael L. Wortman Reciprocating bellows
US3449008A (en) * 1967-06-08 1969-06-10 Gen Dynamics Corp Object handling system with remote manual control
JPS5321073B2 (en) * 1973-01-31 1978-06-30
DE2355966A1 (en) * 1973-11-09 1975-05-22 Medac Klinische Spezialpraep PUMP ARRANGEMENT, ESPECIALLY FOR BLOOD PUMPS
FR2416365A1 (en) * 1978-02-02 1979-08-31 Meca Acoustique Thermique Et ELECTRO-HYDRAULIC FORCE SERVO-CONTROL
JPS5858681B2 (en) * 1978-04-22 1983-12-27 ファナック株式会社 Position error correction method
US4336745A (en) * 1978-07-31 1982-06-29 Mts Systems Corporation Servovalve flow linearization circuit
GB2033010B (en) * 1978-10-12 1982-10-27 Automotive Prod Co Ltd Fluid pressure servo motors
SE419421B (en) * 1979-03-16 1981-08-03 Ove Larson RESIDENTIAL ARM IN SPECIAL ROBOT ARM
ZA802574B (en) * 1979-05-04 1981-04-29 Wellcome Australia Fluid pump
SU823665A1 (en) * 1979-07-19 1981-04-23 Ивановский Энергетический Институтимени B.И.Ленина Digital electrohydraulic drive
US4279192A (en) * 1979-08-24 1981-07-21 The Singer Company Electronic compensator for a pneumatic servo controlled load bearing bellows system
GB2084352B (en) * 1980-09-17 1983-12-21 Geotechnical Digital Systems L Pressure source
GB2091908A (en) * 1981-01-22 1982-08-04 Copperweld Robotics Inc Electro-hydraulic robot positioning system
JPS57192603A (en) * 1981-05-23 1982-11-26 Shoketsu Kinzoku Kogyo Co Ltd Fluid pressure cylinder control device
US4586394A (en) * 1982-07-30 1986-05-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Low noise lead screw positioner
US4481451A (en) * 1982-08-20 1984-11-06 Johnson Service Company Electronically controlled positioner for pneumatic actuators
US4498350A (en) * 1982-09-20 1985-02-12 Eaton Corporation Shifting mechanism
FR2537909B1 (en) * 1982-12-17 1987-06-26 Centre Nat Rech Scient MOBILE CONNECTION DEVICE FOR SUBJECTING TO A CARRIED ELEMENT MOVEMENTS IN MULTIPLE DEGREES OF FREEDOM
US4607998A (en) * 1983-02-15 1986-08-26 Deep Ocean Engineering Incorporated Electromechanical manipulator assembly
US4696163A (en) * 1983-03-28 1987-09-29 Rexa Corporation Control valve and hydraulic system employing same
DE3431583A1 (en) * 1984-08-28 1986-03-13 Messerschmitt-Bölkow-Blohm GmbH, 8012 Ottobrunn DEVICE FOR THE AUTOMATIC ELIMINATION OF TAX FORCE ERRORS IN AIRCRAFT, IN PARTICULAR HELICOPTERS

Also Published As

Publication number Publication date
US4800723A (en) 1989-01-31
EP0165635B1 (en) 1988-04-13
EP0165635A1 (en) 1985-12-27
FR2565882A2 (en) 1985-12-20
JPS614689A (en) 1986-01-10
DE3562121D1 (en) 1988-05-19

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